深層強化学習を用いた社会的配慮ナビゲーションのための変換可能ガウス報酬関数
Transformable Gaussian Reward Function for Socially-Aware Navigation with Deep Reinforcement Learning
混雑環境でのロボットの社会的配慮ナビゲーションにおいて、手設計報酬のハイパーパラメータ調整負担を軽減する変換可能ガウス報酬関数(TGRF)を提案し、学習加速と適応性を実証した。
著者: Jinyeob Kim, Sumin Kang, Sungwoo Yang, Beomjoon Kim, Jargalbaatar Yura, Donghan Kim
分類: cs.RO, cs.AI
原文アブストラクト
Robot navigation has transitioned from prioritizing obstacle avoidance to adopting socially aware navigation strategies that accommodate human presence. As a result, the recognition of socially aware navigation within dynamic human-centric environments has gained prominence in the field of robotics. Although reinforcement learning technique has fostered the advancement of socially aware navigation, defining appropriate reward functions, especially in congested environments, has posed a significant challenge. These rewards, crucial in guiding robot actions, demand intricate human-crafted design due to their complex nature and inability to be automatically set. The multitude of manually designed rewards poses issues with hyperparameter redundancy, imbalance, and inadequate representation of unique object characteristics. To address these challenges, we introduce a transformable gaussian reward function (TGRF). The TGRF significantly reduces the burden of hyperparameter tuning, displays adaptability across various reward functions, and demonstrates accelerated learning rates, particularly excelling in crowded environments utilizing deep reinforcement learning (DRL). We introduce and validate TGRF through sections highlighting its conceptual background, characteristics, experiments, and real-world application, paving the way for a more effective and adaptable approach in robotics.The complete source code is available on https://github.com/JinnnK/TGRF
